四履带搜救机器人机械结构设计【毕业论文+CAD图纸全套】.doc

摘 要  本论文研究工作的目的是设计结构新颖、具有独创性的可携 带、抗一定冲击的履带移动机器人，以能够适应在恶劣环境和复 杂路况下工作。通过在移动系统上加载不同的探测传感设备，能 够实现搜救机器人不同的使用功能，本研究意义在于为后续设计 的搜救机器人提供一个基础的动力平台，以便于能够开发出更多 使用功能的搜救机器人。 本研究所设计的搜救机器人移动方案是履带式驱动结构。该 方案采用模块化设计，便于拆卸维修，可以适应不同情况的复杂 路面，并可主动控制两侧肋板的转动来调节机器人姿态变化，辅 助爬坡、越障和跨沟；机器人经过合理的结构布局和设计后具有 良好的环境适应能力、机动能力。本论文所设计主的机器人移动 机构主要由四部分组成：主动轮减速驱动机构、肋板转动机构、 摆臂减速器机构、履带及履带轮运动机构。  关键字：搜救机器人；摆臂，履带式 减速器  Abstract?  The? purpose? of? this? thesis? is? to? design? novel? structure,? its? u? nique? portable,shoc-k? intelligently? tr acked? mobile? robot,? in? order? to? be? able? to? adapt? to? the? harsh? environment? and? the? complicate? d? road? to? work.Mobile? systems? loaded? by? different? mo-ules,? sear? ch? and? rescue? robots? can? be? achieved? using? different? functions,? t? his? studyis? important? because? other? peoples? search? and? rescue? ro? bot? designed? to? provide? a? basis? for? the? dynamic? platform? to? facil? itate? greater? use? of? features? can? developsear-ch? and? rescue? robots.? This? resoarch? is? moving? search? and? rescue? robot? crawler.The? program? is? modular? in? design,? easy? disassembly? maintenance,? can? be? complex? adaptive? sub-surface,? active? control? can? turn? on? bot? h? sides? of? flange? module? to? adjust? the? robot? pose? changes,? supp? orting? climbing,obstacle? and? cross- channel.The? design? of? the? robo? t? moving? mechanism? mainly? consists? of? four? components.? Active? wheel? reducer? drive? mechanism,? flange? rotation? institutions,? adap? tive? road? implementing? agencies,? sports? organizations? track? and? tr? ack? wheels.? Key? words:? search? and? rescue? robots?? swing? arm?crawler?? Retarder?? 目录 前 言................................................3 1 绪 论..............................................7 1.1 课题研究背景及意义...............................7 2 3 4 1.1.1 课题研究背景..............................7 1.1.2 课题研究意义..............................8 1.2 国内外的研究概